Omron Sysmac NY-series User Manual

Set FirstPosition to a larger value than LastPosition.
InZone
FirstPosition = 330°
LastPosition = 210°
0
+-
Zone Zone
Zone
Modulo Minimum
Position
Modulo Maximum
Position
FirstPosition
LastPosition
: The positions indicated with
open dots are not included.

ReferenceType (Position Type Selection)
You can select one of the following position types.
•
_mcCommand: Command position (value calculated in the previous task period)
The master axis command position that was calculated in the previous task period is used for the
current period.
The command value that was calculated for the master axis in the last periodic task is used to calcu-
late the command position of the slave axis in the current period.
• _mcFeedback: Value obtained in the same task period
The actual position of the master axis that was obtained in the same task period is used.
Precautions for Correct Use
Here, the task period is the primary period. The periodic task is the primary periodic task.

Relationship between Axis Types and Position Types
The relationship between the axis types that you can monitor and position types that is monitored is
shown below
.
Axis Type
ReferenceType
_mcCommand _mcFeedback
Servo axis OK OK
Encoder axis
No
*1
OK
Virtual servo axis OK OK
Virtual encoder axis
No
*1
OK
*1. A Position Type Selection Out of Range error (error code: 5430 hex) occurs when the instruction is execut-
ed.
3 Axis Command Instructions
3-358
NY-series Motion Control Instructions Reference Manual (W561)

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English